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PX4 / PX4-Avoidance

PX4 avoidance ROS node for obstacle detection and avoidance.
http://px4.io
BSD 3-Clause "New" or "Revised" License
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Avoidance system not available! #294

Closed trgiman closed 5 years ago

trgiman commented 5 years ago

Hello,

I am able to run

roslaunch local_planner local_planner_stereo.launch an plann path for UAV

but in case of

1.roslaunch global_planner global_planner_sitl_mavros.launch I have got following error

WARN [commander] Avoidance system not available! [ERROR] [1554717383.081456403, 886.980000000]: FCU: Avoidance system not available!

same error is for:

2.roslaunch local_planner local_planner_sitl_mavros.launch

In case of 1. Gazebo world,iris model,PX4 simulation is loaded but since Avoidance system is not available I can not arm and take-off and plan the path? However in RVIZ - point cloud, octomap,everything seems to work correctly Any ideas?

a)My gazebo ros kinetic version is 9.6 (updated from 7) and checked with sudo apt-get install ros-kinetic-gazebo9-* that no packages are missing in order to make gz plugins to work properly.

b)PX4 version is v1.9.0-beta2

Thank you for recommendations.

mrivi commented 5 years ago

Hi @trgiman , local_planner local_planner_sitl_mavros it's an intermediate launch file that's why it doesn't work. In order to launch the local_planner you need to use local_planner_depth-camera, local_planner_sitl_3cam or local_planner_stereo. More details on the difference between these simulation is provided in this package README. As for the global planner, you will need to downgrade to v1.8 stable release and use it only in offboard mode. Sorry about that. We will try to have it working on 1.9 as soon as possible.

trgiman commented 5 years ago

Hi @mrivi,

Thanks a lot for info. Actually my first attempt was with v1.8. But it did not have px4.launch file and compilation had to be done trough make posix_default_sitl (option from tutorial not available). After modifying launch file etc. accordingly, result was unfortunately, that ros was reporting multiple nodes named /gazebo.

So I tried to add px4.launch from git, but in that case Gazebo models etc are not loaded. Now I am running local_planner_depth-camera which runs smoothly (PX4 v1.9.0-beta2)

1.8v is not working for me in regards of Global Planner.

mrivi commented 5 years ago

@trgiman The avoidance should work with 1.8 (both local and global planner). Can you share the error output? Thanks

trgiman commented 5 years ago

@mrivi .Sure. Basically I just followed the the Readme tutorial.

  1. cloned current PX4 and updated submodules
  2. git checkout v1.8.0
  3. make list_config_targets - result is px4_sitl_default is not available so used make posix_sitl_default 4.Configuration of PATHes in respect of my Firmware dir and posix_sitl_default option 5.Launching .roslaunch global_planner global_planner_sitl_mavros.launch

Error 1: while processing /home/trgiman/pplanningPX4/src/avoidance/global_planner/launch/mavros_sitl.launch: while processing /home/trgiman/PX4/Firmware/launch/px4.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/trgiman/PX4/Firmware/launch/px4.launch'

Now option 1 add px4.launch file or option 2 edit mavros_sitl.launch. Tried both as mentioned above. Or maybe I am doing something essentially wrong?

mrivi commented 5 years ago

I think for 1.8 to work you need to revert this change https://github.com/PX4/avoidance/pull/98/files

trgiman commented 5 years ago

Hi @mrivi I did reverted to commit, that was recommended by you. Everything went well but unfortunately this time I get following gazebo error (i solved this one but I do have others):

Aborted (core dumped) [gazebo-7] process has died [pid 5303, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/trgiman/pplanningPX4/src/avoidance/global_planner/../sim/worlds/test_city_2.world name:=gazebo log:=/home/trgiman/.ros/log/66c5d584-5a34-11e9-aaed-0c9d928302ea/gazebo-7.log]. log file: /home/trgiman/.ros/log/66c5d584-5a34-11e9-aaed-0c9d928302ea/gazebo-7*.log

FYI. I did compilation of PX4 and Avoidance from clean git clone etc. Log above is non existent...

Anyway I added verbose to launch file and there were several complains from gazebo world

1) changed max step to required 0.004 2) changed real_time_update_rate to required 250

but now I have following complains

[Wrn] [msgs.cc:1852] [ INFO] [1554753388.578232695, 786.964000000]: Laser Plugin: The 'robotNamespace' param did not exit Conversion of sensor type[depth] not supported. [1;33[ INFO] [1554753388.578294031, 786.964000000]: Starting Laser Plugin (ns = ) m[ INFO] [1554753388.578859898, 786.964000000]: Laser Plugin (ns = ) , set to "" [Dbg] [gazebo_mavlink_interface.cpp:137] not found for channel[0] no joint control will be performed for this channel. [Dbg] [gazebo_mavlink_interface.cpp:137] not found for channel[1] no joint control will be performed for this channel. [Dbg] [gazebo_mavlink_interface.cpp:137] not found for channel[2] no joint control will be performed for this channel. [Dbg] [gazebo_mavlink_interface.cpp:137] not found for channel[3] no joint control will be performed for this channel. [Wrn] [gazebo_mavlink_interface.cpp:126] joint [zephyr_delta_wing::propeller_joint] not found for channel[4] no joint control for this channel. [Wrn] [gazebo_mavlink_interface.cpp:126] joint [zephyr_delta_wing::flap_left_joint] not found for channel[5] no joint control for this channel. [Wrn] [gazebo_mavlink_interface.cpp:126] joint [zephyr_delta_wing::flap_right_joint] not found for channel[6] no joint control for this channel. [Dbg] [gazebo_mavlink_interface.cpp:137] not found for channel[7] no joint control will be performed for this channel. [Msg] Conecting to PX4 SITL using TCP [Msg] Lockstep is enabled [Msg] Speed factor set to: 1

Any ideas?

mrivi commented 5 years ago

@trgiman Those seems some warning that are always there. I don't see any error that would make the simulation fail. Is there an error?

I would advise you to first make sure that your setup is working properly with the Firmware master and avoidance master. Realease 1.8 is quite old and it doesn't support all the feature of avoidance (e.g. no OA with mission mode, it runs only offboard mode). Is there any specific reason why you want to use a release?

Furthemore, some issues might be caused by having Gazebo9 with ROS Kinetic. I think no one in the dev team has that setup. We recommend ROS Kinetic and Gazebo 7.

mrivi commented 5 years ago

@trgiman By the way to use the global planner with release 1.9 or the Firmware master, you can set COM_OBS_AVOID to 0 and run the planner in Offboard mode. You need to reboot after setting the parameters such that the preflight checks don't fail.

trgiman commented 5 years ago

Hi @mrivi perfect. I set COM_OBS_AVOID to 0 and global planner works like a charm with 1.9, gazebo 9.6 on kinetic.Hmm. I just do not get why we have to set COM_OBS_AVOID to 0 instead of leaving it to 1? It is PX4 flag to enable obs avoidance?

Do you have got any explanation please? Initially I although tough that I can change the COM_OBS_AVOID by default in https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid...but it did not chage the parameter so I simply used QGroundControll to change it.

Anyway thanks for help.

mrivi commented 5 years ago

@trgiman COM_OBS_AVOID enables running the obstacle avoidance in MISSION mode. It isn't necessary to run it in OFFBOARD mode.

There is a bug in the Firmware with loading vehicle specific paramters from ROS. If you delete ~/.ros/eeprom/parameters when changing vehicle type you will see that the parameters get set correctly

trgiman commented 5 years ago

@mrivi thanks. It works I think we can close this issue.

ElderWanng commented 5 years ago

I have the problem same with you literally... but, how to revert that merge? (what is the command) THX~~!

trgiman commented 5 years ago

@ElderWanng. To revert - command is for instance git log —after “date time” —before “ datetime” to find commit and than git reset —hard “commitnum” - this is one of the options but i suggest to stay with px4 1.9 and only set com_obs_avoid accordingly via ros mavros package commands, qgc or in file mentioned above. Depends first option may work for you as well if you have gazebo 7.